version: 66.06
glider: 146
mission: 6
dive: 220
start: 6 6 111 17 57 9
data:
$ID,146
$MISSION,6
$DIVE,220
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,623.79791
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-273036.34
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3155
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,62
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3020
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,173946,2249.456,-15757.827,11,2.5,30,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.0
$GPS2,175616,2249.676,-15757.865,15,2.2,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,-0.234
$KALMAN_X,-88593.3,119.7,-93.0,86751.2,-187.9
$KALMAN_Y,-98905.9,-174.8,-210.5,109978.3,948.8
$MHEAD_RNG_PITCHd_Wd,164.6,4957,-19.8,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-77.38,0.000,2,0.000,0.000,473,1816,3492,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.6,-9.2,10,119,12.48,2.58,0.00,0.000,4,0.154,0.049,2846,261,3495,0,0,0,0,0,0
$GC,214,-1.22,-116.8,37.1,-20.2,24,219,0.20,2.38,0.00,0.000,6,0.124,0.014,2886,1850,3496,0,0,0,0,0,0
$GC,481,-1.22,-116.8,76.9,-14.4,48,486,0.00,2.38,0.00,0.000,4,0.000,0.025,2886,3375,3496,0,0,0,0,0,0
$GC,502,-1.22,-116.8,80.5,-14.6,49,506,0.00,2.42,0.00,0.000,6,0.000,0.026,2886,1825,3496,0,0,0,0,0,0
$GC,768,-1.22,-116.8,113.1,-12.8,73,773,0.00,2.62,0.00,0.000,4,0.000,0.061,2886,254,3496,0,0,0,0,0,0
$GC,813,-1.22,-116.8,119.9,-13.7,76,825,0.00,2.40,0.00,0.000,6,0.000,0.015,2886,1845,3496,0,0,0,0,0,0
$GC,1083,-1.25,-116.8,150.5,-11.5,101,1087,0.00,2.35,0.00,0.000,4,0.000,0.031,2886,3360,3497,0,0,0,0,0,0
$GC,1135,-1.35,-116.8,157.0,-10.9,105,1140,0.10,2.38,0.00,0.000,6,0.079,0.030,2841,1842,3497,0,0,0,0,0,0
$GC,1396,-1.35,-116.8,189.7,-12.4,129,1400,0.00,2.38,0.00,0.000,4,0.000,0.032,2841,3363,3498,0,0,0,0,0,0
$GC,1426,-1.35,-116.8,193.3,-12.3,131,1430,0.00,2.35,0.00,0.000,6,0.000,0.028,2841,1853,3498,0,0,0,0,0,0
$GC,1688,-1.35,-116.8,226.3,-12.2,141,1690,0.10,0.00,0.00,0.000,6,0.116,0.000,2862,1853,3497,0,0,0,0,0,0
$GC,1932,-1.38,-116.8,252.9,-10.6,147,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1853,3498,0,0,0,0,0,0
$GC,2177,-1.44,-116.8,279.1,-11.1,153,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1853,3498,0,0,0,0,0,0
$GC,2420,-1.49,-116.8,304.2,-10.1,159,2425,0.15,2.42,0.00,0.000,4,0.068,0.034,2813,3367,3497,0,0,0,0,0,0
$GC,2436,-1.49,-116.8,306.0,-9.9,159,2440,0.00,2.45,0.00,0.000,6,0.000,0.033,2813,1858,3497,0,0,0,0,0,0
$GC,2697,-1.49,-116.8,337.3,-12.0,166,2699,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1857,3497,0,0,0,0,0,0
$GC,2940,-1.49,-116.8,365.2,-11.6,172,2944,0.00,2.42,0.00,0.000,4,0.000,0.039,2813,3352,3496,0,0,0,0,0,0
$GC,3000,-1.49,-116.8,372.5,-11.9,173,3004,0.00,2.50,0.00,0.000,6,0.000,0.047,2813,1853,3496,0,0,0,0,0,0
$GC,3263,-1.49,-116.8,402.7,-11.7,180,3267,0.00,2.42,0.00,0.000,4,0.000,0.048,2814,3350,3494,0,0,0,0,0,0
$GC,3328,-1.49,-116.8,410.9,-12.3,181,3333,0.00,2.50,0.00,0.000,6,0.000,0.058,2814,1856,3494,0,0,0,0,0,0
$GC,3584,-1.49,-116.8,439.4,-11.1,188,3588,0.00,2.45,0.00,0.000,4,0.000,0.049,2813,3350,3492,0,0,0,0,0,0
$GC,3640,-1.49,-116.8,445.5,-10.8,189,3644,0.00,2.53,0.00,0.000,6,0.000,0.058,2814,1862,3492,0,0,0,0,0,0
$GC,3906,-1.49,-116.8,473.8,-10.7,196,3907,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1862,3490,0,0,0,0,0,0
$GC,4149,-1.49,-116.8,498.4,-10.0,202,4151,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1862,3488,0,0,0,0,0,0
$STATE,4187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4187,begin apogee
$GC,4194,-0.31,0.0,502.3,10.0,203,4293,1.20,0.00,95.65,0.907,6,0.082,0.000,3083,1949,3020,0,0,0,0,0,0
$STATE,4294,end apogee,CONTROL_FINISHED_OK
$STATE,4294,begin climb
$GC,4298,1.38,116.8,504.0,0.0,205,4405,1.60,2.85,99.03,0.890,4,0.049,0.067,3460,3558,2542,0,0,0,0,0,0
$GC,4435,1.31,167.2,500.6,7.1,209,4484,0.00,2.70,43.60,0.867,6,0.000,0.051,3460,1995,2337,0,0,0,0,0,0
$GC,4760,1.22,167.2,465.1,11.3,217,4766,0.17,3.03,0.00,0.000,4,0.113,0.108,3424,409,2329,0,0,0,0,0,0
$GC,4794,1.15,167.2,460.9,10.9,217,4800,0.00,2.58,0.00,0.000,6,0.000,0.036,3424,1979,2327,0,0,0,0,0,0
$GC,5045,1.19,195.4,439.3,8.4,224,5073,0.00,0.00,24.08,0.839,6,0.000,0.000,3424,1979,2222,0,0,0,0,0,0
$GC,5331,1.19,197.4,411.5,9.9,231,5335,0.00,2.67,0.00,0.000,4,0.000,0.046,3424,3582,2217,0,0,0,0,0,0
$GC,5380,1.19,197.4,406.4,10.1,232,5384,0.00,2.65,0.00,0.000,6,0.000,0.044,3424,1994,2216,0,0,0,0,0,0
$GC,5654,1.20,205.0,380.1,9.6,239,5668,0.00,2.85,8.65,0.736,4,0.000,0.081,3424,411,2183,0,0,0,0,0,0
$GC,5685,1.20,209.7,376.8,9.8,239,5697,0.00,2.55,5.80,0.650,6,0.000,0.021,3424,2010,2165,0,0,0,0,0,0
$GC,5942,1.23,230.8,353.9,8.8,246,5967,0.00,2.62,20.00,0.801,4,0.000,0.043,3424,3577,2077,0,0,0,0,0,0
$GC,6000,1.25,250.1,348.8,8.9,247,6025,0.00,2.62,18.27,0.781,6,0.000,0.038,3424,1991,1999,0,0,0,0,0,0
$GC,6312,1.29,250.1,318.4,10.1,255,6314,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1991,1994,0,0,0,0,0,0
$GC,6553,1.34,250.1,293.1,10.3,261,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1991,1992,0,0,0,0,0,0
$GC,6797,1.38,250.1,268.7,10.1,267,6799,0.12,0.00,0.00,0.000,6,0.082,0.000,3460,1991,1991,0,0,0,0,0,0
$GC,7040,1.38,250.1,242.4,10.9,273,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1991,1990,0,0,0,0,0,0
$GC,7284,1.38,250.1,216.7,10.4,279,7288,0.00,2.70,0.00,0.000,4,0.000,0.068,3460,411,1990,0,0,0,0,0,0
$GC,7350,1.34,250.1,208.9,12.1,280,7355,0.00,2.50,0.00,0.000,6,0.000,0.019,3460,2006,1989,0,0,0,0,0,0
$GC,7614,1.34,250.1,181.2,10.3,299,7618,0.00,2.50,0.00,0.000,4,0.000,0.040,3460,3557,1988,0,0,0,0,0,0
$GC,7666,1.34,250.1,175.7,10.7,303,7671,0.00,2.53,0.00,0.000,6,0.000,0.035,3460,1991,1987,0,0,0,0,0,0
$GC,7929,1.36,262.9,150.1,9.3,327,7946,0.00,2.72,10.40,0.611,4,0.000,0.061,3460,420,1947,0,0,0,0,0,0
$GC,7981,1.36,262.9,144.9,11.3,331,7986,0.00,2.47,0.00,0.000,6,0.000,0.018,3460,2009,1947,0,0,0,0,0,0
$GC,8248,1.42,281.1,118.9,9.0,355,8273,0.00,2.53,17.42,0.611,4,0.000,0.035,3460,3545,1873,0,0,0,0,0,0
$GC,8304,1.46,281.1,113.4,10.1,359,8309,0.00,2.53,0.00,0.000,6,0.000,0.035,3460,1990,1871,0,0,0,0,0,0
$GC,8567,1.53,288.1,88.8,9.6,384,8582,0.12,2.65,7.32,0.518,4,0.084,0.054,3497,418,1843,0,0,0,0,0,0
$GC,8600,1.53,288.1,84.9,12.1,386,8609,0.00,2.47,0.00,0.000,6,0.000,0.024,3497,1995,1843,0,0,0,0,0,0
$GC,8865,1.54,298.0,57.0,9.5,411,8888,0.00,2.53,9.60,0.519,4,0.000,0.036,3496,3567,1805,0,0,0,0,0,0
$GC,8893,1.55,304.3,53.8,9.7,413,8906,0.00,2.58,7.38,0.486,6,0.000,0.028,3497,1991,1778,0,0,0,0,0,0
$GC,9179,1.55,304.3,23.8,11.2,442,9189,0.00,2.55,0.00,0.000,4,0.000,0.030,3497,3560,1775,0,0,0,0,0,0
$GC,9212,1.55,304.3,19.9,11.8,446,9221,0.00,2.53,0.00,0.000,6,0.000,0.028,3497,2004,1776,0,0,0,0,0,0
$STATE,9360,end climb,SURFACE_DEPTH_REACHED
$STATE,9360,begin surface coast
$FINISH,0.4,0.979932
$STATE,9405,end surface coast,CONTROL_FINISHED_OK
$STATE,9406,begin surface
$SM_CCo,9428,252.65,0.516,0,0,476,623.80
$SM_GC,1.18,0.00,0.00,252.65,0.000,0.000,0.516,475,1813,476,-12.33,-0.48,623.80
$IRIDIUM_FIX,2241.69,-15757.16,300800,181857
$TT8_MAMPS,0.026078
$HUMID,55.19
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,22.00
$XPDR_PINGS,40
$24V_AH,23.5,27.440
$10V_AH,10.4,24.073
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,28.475,107.225,367.200,252.650,0.000,123.136,357.714,107.524,10.000,0.000,36.919,940.272,6439.543,670.914,1750.849,872.914,33.369,1330.549,0.000,1740.426,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,108.147,906.594,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.038,267.151,364.352,689.430,1043.775,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,38398,473
$CAP_FILE_SIZE,98938,0
$CFSIZE,260165632,170745856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,203954,2248.678,-15757.952,25,1.1,42,10.1